Driving control device
A driving control device has: a deciding section that decides a first weighting coefficient and a second weighting coefficient in an evaluation function including, as variables, a lateral deviation of a vehicle, a speed deviation of the vehicle, an azimuth deviation of the vehicle, an acceleration/deceleration instruction value and a steering angle instruction value; a calculating section that calculates the acceleration/deceleration instruction value and the steering angle instruction value for a time of a next period for minimizing or maximizing an output value of the evaluation function, by periodically inputting the lateral deviation, the speed deviation and the azimuth deviation to the evaluation function; and a travel control section that causes the vehicle to travel on a basis of the acceleration/deceleration instruction value and the steering angle instruction value.
1 . A driving control device comprising:
an acquiring section that acquires: a lateral deviation which is a difference between a position where a vehicle is travelling and a target travelling position of the vehicle in a direction orthogonal to an advancing direction of the vehicle; a speed deviation which is a difference between a speed of the vehicle and a target speed of the vehicle at the position where the vehicle is travelling; and an azimuth deviation which is a difference between an azimuth of the vehicle and a target azimuth of the vehicle at the position where the vehicle is travelling;
a deciding section that decides a first weighting coefficient of the speed deviation and a second weighting coefficient of the lateral deviation in an evaluation function including, as variables, the lateral deviation, the speed deviation, the azimuth deviation, an acceleration/deceleration instruction value and a steering angle instruction value, on a basis of a situation around the position where the vehicle is travelling, the situation influencing at least any one of a travelling speed and a travelling position of the vehicle;
a calculating section that calculates the acceleration/deceleration instruction value and the steering angle instruction value for a time of a next period for minimizing or maximizing an output value of the evaluation function, by periodically inputting the lateral deviation, the speed deviation and the azimuth deviation to the evaluation function; and
a travel control section that causes the vehicle to travel on a basis of the acceleration/deceleration instruction value and the steering angle instruction value calculated by the calculating section, wherein,
the deciding section increases the first weighting coefficient of the speed deviation in a case where a distance between the vehicle and a preceding vehicle travelling in front of the vehicle is shorter than a threshold, and
the calculating section calculates the acceleration/deceleration instruction value and the steering angle instruction value such that the rate of change of the speed deviation or the acceleration/deceleration instruction value becomes greater than the rates of change of the lateral deviation, the azimuth deviation, and the steering angle instruction value.
2 . The driving control device according to claim 1 , wherein
the acquiring section acquires an upper limit value of an absolute value of acceleration/deceleration of the vehicle, and
the deciding section reduces the first weighting coefficient of the speed deviation in a case where an absolute value of the acceleration/deceleration instruction value calculated by the calculating section is greater than the upper limit value.
3 . The driving control device according to claim 1 , wherein the deciding section decides a third weighting coefficient of the azimuth deviation in the evaluation function on a basis of a situation around the position where the vehicle is travelling, the situation influencing an orientation of the vehicle.
4 . The driving control device according to claim 3 , wherein the deciding section increases at least any one of the second weighting coefficient of the lateral deviation and the third weighting coefficient of the azimuth deviation in a case where the azimuth deviation is equal to or greater than a threshold.
5 . The driving control device according to claim 4 , wherein the deciding section increases the second weighting coefficient in a case where the azimuth deviation is equal to or greater than a threshold and the lateral deviation is large, and increases the third weighting coefficient in a case where the azimuth deviation is equal to or greater than the threshold and the lateral deviation is small.
6 . The driving control device according to claim 3 , wherein
the acquiring section acquires a curvature of a road surface where the vehicle is travelling, and
the deciding section decides the third weighting coefficient of the azimuth deviation on a basis of a magnitude of the curvature acquired by the acquiring section.
7 . The driving control device according to claim 6 , wherein the deciding section increases the third weighting coefficient as the curvature acquired by the acquiring section increases.
8 . The driving control device according to claim 3 , wherein the deciding section increases at least any one of the second weighting coefficient of the lateral deviation and the third weighting coefficient of the azimuth deviation in a case where a distance between the vehicle and a lane boundary closest to the vehicle is shorter than a threshold.
9 . The driving control device according to claim 3 , wherein
the acquiring section acquires an upper limit value of an absolute value of a steering angle of the vehicle, and
the deciding section reduces at least any one of the second weighting coefficient of the lateral deviation and the third weighting coefficient of the azimuth deviation in a case where the steering angle instruction value calculated by the calculating section is greater than the upper limit value.
10 . The driving control device according to claim 7 , wherein
the calculating section calculates the steering angle instruction value and the acceleration/deceleration instruction value such that the rate of change of the lateral deviation, the azimuth deviation, or the steering angle instruction value becomes greater than the rates of change of the speed deviation and the acceleration/deceleration instruction value, if the deciding section increases the third weighting coefficient.